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All Journal Bulletin of Electrical Engineering and Informatics Journal of Robotics and Control (JRC)
Doan, Hoa Van
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Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering

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Robust optimal control for uncertain wheeled mobile robot based on reinforcement learning: ADP approach Doan, Hoa Van; Thi-Thuy Vu, Nga
Bulletin of Electrical Engineering and Informatics Vol 13, No 3: June 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/eei.v13i3.7054

Abstract

This paper presents a robust optimal control approach for the wheel mobile robot system, which considers the effects of external disturbances, uncertainties, and wheel slipping. The proposed method utilizes an adaptive dynamic programming (ADP) technique in conjunction with a disturbance observer. Initially, the system's state space model is formulated through the utilization of kinematic and dynamic models. Subsequently, the ADP method is employed to establish an online adaptive optimal controller, which solely relies on a single neural network for the purpose of function approximation. The utilization of the disturbance observer in conjunction with the compensation controller serves to alleviate the effects of disturbances. The Lyapunov theorem establishes the stability of the complete closed-loop system and the convergence of the weights of the neural network. The proposed approach has been shown to be effective through simulation under the effect of the disturbances and the change of the desired trajectory.
Adaptive Sliding Mode Control for Trajectory Tracking in Three-Wheeled Mobile Robots: Experimental Validation and Performance Analysis Doan, Hoa Van
Journal of Robotics and Control (JRC) Vol. 6 No. 4 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v6i4.25570

Abstract

This paper presents an adaptive sliding mode control approach (ASMC) designed for trajectory tracking of a three-wheeled mobile robot (TWMR), accounting for external disturbances and wheel slippage effects. First, the TWMR system model is converted into a dynamic form of the tracking error, and then a SMC is designed for this error model. The synthetic disturbance is approximated through an adaptive law, which helps the system maintain high stability. The results from simulating the controller on Matlab/Simulink software, as well as implementing the algorithm on the experimental TWMR model, have demonstrated the accuracy and efficiency of the proposed method.
Co-Authors Thi-Thuy Vu, Nga